#ifndef MOTION_H
#define MOTION_H

#include "ti_msp_dl_config.h"

void motion_init(void);
void motion_speed_ctrl(int16_t left_speed, int16_t right_speed);
void motion_set_speed(int16_t speed);
void motion_torque_ctrl(int16_t left_torque, int16_t right_torque);

void motion_move_pool(float delata_seconds);
void motion_turn_pool(float err, float delta_sec, float k);
#endif